Adaptive control of mechanical systems with classical nonholonomic constraints

Author

Su, Chun-Yi ; Stepanenko, Yury

Author_Institution

Dept. of Mech. Eng., Victoria Univ., BC, Canada

Volume

5

fYear

1995

fDate

22-25 Oct 1995

Firstpage

4143

Abstract

The position/force control of mechanical systems subject to a set of classical nonholonomic constraints represents an important class of control problems. In this paper a reduced dynamic model, suitable for simultaneous independent motion and force control, is developed by exploiting the physical structure of the systems. Some properties of the dynamic model are obtained to facilitate the controller design. An adaptive control algorithm is therefore derived. Stability analysis shows the stabilization of the manifold

Keywords

adaptive control; control system synthesis; force control; motion control; position control; stability; adaptive control; classical nonholonomic constraints; controller design; manifold stabilisation; mechanical systems; position/force control; reduced dynamic model; simultaneous independent motion/force control; stability analysis; Adaptive control; Control systems; Equations; Feedback; Force control; Force measurement; Kinematics; Mechanical systems; Nonlinear dynamical systems; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.538440

Filename

538440